Calculate a score [0,1] that tells how acute the impact angle is (1.0f - getImpactAngle/90deg) This uses getImpactAngleBasedOnLocalNormal Will return -INFINITY if no normal could be calculated. More...

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters

point_cloud

the input point cloud

angular_resolution

the angle (in radians) between each sample in the depth image

max_angle_width

an angle (in radians) defining the horizontal bounds of the sensor

max_angle_height

an angle (in radians) defining the vertical bounds of the sensor

coordinate_frame

the coordinate frame (defaults to CAMERA_FRAME)

noise_level

- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.

min_range

the minimum visible range (defaults to 0)

border_size

the border size (defaults to 0)

Note

If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

Create the depth image from a point cloud, using the average viewpoint of the points (vp_x,vp_y,vp_z in the point type) in the point cloud as sensor pose (assuming a rotation of (0,0,0)).

Parameters

point_cloud

the input point cloud

angular_resolution_x

the angular difference (in radians) between the individual pixels in the image in the x-direction

angular_resolution_y

the angular difference (in radians) between the individual pixels in the image in the y-direction

max_angle_width

an angle (in radians) defining the horizontal bounds of the sensor

max_angle_height

an angle (in radians) defining the vertical bounds of the sensor

coordinate_frame

the coordinate frame (defaults to CAMERA_FRAME)

noise_level

- The distance in meters inside of which the z-buffer will not use the minimum, but the mean of the points. If 0.0 it is equivalent to a normal z-buffer and will always take the minimum per cell.

min_range

the minimum visible range (defaults to 0)

border_size

the border size (defaults to 0)

Note

If wrong_coordinate_system is true, the sensor pose will be rotated to change from a coordinate frame with x to the front, y to the left and z to the top to the coordinate frame we use here (x to the right, y to the bottom and z to the front)

- The x coordinate of the top left pixel of the sub image. This is always according to absolute 0,0 meaning -180°,-90° and it is already in the system of the new image, so the actual pixel used in the original image is combine_pixels* (image_offset_x-image_offset_x_)

sub_image_image_offset_y

- Same as image_offset_x for the y coordinate

sub_image_width

- width of the new image

sub_image_height

- height of the new image

combine_pixels

- shrinking factor, meaning the new angular resolution is combine_pixels times the old one